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81 lines
2.6 KiB
C++
81 lines
2.6 KiB
C++
/*
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Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <rtabmap/utilite/UEvent.h>
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#include "rtabmap/core/SensorData.h"
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namespace rtabmap
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{
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class CameraEvent :
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public UEvent
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{
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public:
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enum Code {
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kCodeImage,
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kCodeImageDepth,
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kCodeNoMoreImages
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};
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public:
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CameraEvent(const cv::Mat & image, int seq=0, double stamp = 0.0) :
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UEvent(kCodeImage),
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data_(image, seq, stamp)
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{
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}
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CameraEvent() :
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UEvent(kCodeNoMoreImages)
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{
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}
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CameraEvent(const cv::Mat & rgb, const cv::Mat & depth, float fx, float fy, float cx, float cy, const Transform & localTransform, int id, double stamp) :
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UEvent(kCodeImageDepth),
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data_(rgb, depth, fx, fy, cx, cy, localTransform, Transform(), 1.0f, 1.0f, id, stamp)
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{
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}
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CameraEvent(const SensorData & data) :
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UEvent(kCodeImageDepth),
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data_(data)
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{
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}
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// Image or descriptors
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const SensorData & data() const {return data_;}
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virtual ~CameraEvent() {}
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virtual std::string getClassName() const {return std::string("CameraEvent");}
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private:
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SensorData data_;
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};
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} // namespace rtabmap
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